Skip to content

Commit 447e1cb

Browse files
sensei-hackersensei-hacker
authored
Merge pull request #11829 from iNavFlight/release/9.1
Release/9.1 to master
2 parents 47f6afd + b797504 commit 447e1cb

9 files changed

Lines changed: 670 additions & 96 deletions

File tree

‎.github/scripts/size-diff-comment.js‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,7 @@ const REPRESENTATIVE_TARGETS = ['MATEKF405', 'MATEKF722', 'MATEKF765', 'MATEKH74
1717

1818
// Below this magnitude a delta is noise (rounding/toolchain jitter), not a
1919
// real change worth calling out.
20-
const NOISE_THRESHOLD_BYTES = 32;
20+
const NOISE_THRESHOLD_BYTES = 256;
2121

2222
function formatDelta(deltaBytes, baseBytes) {
2323
const sign = deltaBytes > 0 ? '+' : deltaBytes < 0 ? '' : '±';

‎docs/development/msp/inav_enums.json‎

Lines changed: 49 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -849,13 +849,14 @@
849849
"DEVHW_TOF10120_I2C": "48",
850850
"DEVHW_TERARANGER_EVO_I2C": "49",
851851
"DEVHW_MS4525": "50",
852-
"DEVHW_DLVR": "51",
853-
"DEVHW_M25P16": "52",
854-
"DEVHW_W25N": "53",
855-
"DEVHW_UG2864": "54",
856-
"DEVHW_SDCARD": "55",
857-
"DEVHW_IRLOCK": "56",
858-
"DEVHW_PCF8574": "57"
852+
"DEVHW_MS5525": "51",
853+
"DEVHW_DLVR": "52",
854+
"DEVHW_M25P16": "53",
855+
"DEVHW_W25N": "54",
856+
"DEVHW_UG2864": "55",
857+
"DEVHW_SDCARD": "56",
858+
"DEVHW_IRLOCK": "57",
859+
"DEVHW_PCF8574": "58"
859860
},
860861
"deviceFlags_e": {
861862
"_source": "inav/src/main/drivers/bus.h",
@@ -1764,6 +1765,12 @@
17641765
"IBUS_MEAS_VALUE_GPS_LON2": "145",
17651766
"IBUS_MEAS_VALUE_GPS": "253"
17661767
},
1768+
"icm42605Variant_e": {
1769+
"_source": "inav/src/main/drivers/accgyro/accgyro_icm42605.c",
1770+
"ICM42605_VARIANT_42605": "0",
1771+
"ICM42605_VARIANT_42686P": "1",
1772+
"ICM42605_VARIANT_42688P": "2"
1773+
},
17671774
"inputSource_e": {
17681775
"_source": "inav/src/main/flight/servos.h",
17691776
"INPUT_STABILIZED_ROLL": "0",
@@ -2123,6 +2130,7 @@
21232130
"LSM6DXX_VAL_CTRL1_XL_LPF2": "1",
21242131
"LSM6DXX_VAL_CTRL2_G_ODR6664": "10",
21252132
"LSM6DXX_VAL_CTRL2_G_2000DPS": "3",
2133+
"LSM6DXX_VAL_CTRL3_C_BDU": "BIT(6)",
21262134
"LSM6DXX_VAL_CTRL3_C_H_LACTIVE": "0",
21272135
"LSM6DXX_VAL_CTRL3_C_PP_OD": "0",
21282136
"LSM6DXX_VAL_CTRL3_C_SIM": "0",
@@ -2140,7 +2148,21 @@
21402148
"LSM6DXX_VAL_CTRL7_G_HPM_G_65": "1",
21412149
"LSM6DXX_VAL_CTRL7_G_HPM_G_260": "2",
21422150
"LSM6DXX_VAL_CTRL7_G_HPM_G_1040": "3",
2143-
"LSM6DXX_VAL_CTRL9_XL_I3C_DISABLE": "BIT(1)"
2151+
"LSM6DXX_VAL_CTRL9_XL_I3C_DISABLE": "BIT(1)",
2152+
"LSM6DXX_VAL_CTRL1_XL_V_OPMODE_HIGH_ACCURACY": "1",
2153+
"LSM6DXX_VAL_CTRL1_XL_V_ODR_1000HZ_HAODR1": "9",
2154+
"LSM6DXX_VAL_CTRL2_G_V_OPMODE_HIGH_ACCURACY": "1",
2155+
"LSM6DXX_VAL_CTRL2_G_V_ODR_8000HZ_HAODR1": "12",
2156+
"LSM6DXX_VAL_HAODR_CFG_MODE1": "1",
2157+
"LSM6DXX_VAL_CTRL6_C_V_FS_G_2000DPS": "4",
2158+
"LSM6DXX_VAL_CTRL6_C_V_DSK320X_RESERVED_BIT3": "BIT(3)",
2159+
"LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_288HZ": "0",
2160+
"LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_215HZ": "1",
2161+
"LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_157HZ": "2",
2162+
"LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_455HZ": "3",
2163+
"LSM6DXX_VAL_CTRL7_G_V_LPF1_EN": "BIT(0)",
2164+
"LSM6DXX_VAL_CTRL8_XL_V_FS_16G": "3",
2165+
"LSM6DXX_VAL_CTRL4_C_V_DRDY_PULSED": "BIT(1)"
21442166
},
21452167
"lsm6dxxRegister_e": {
21462168
"_source": "inav/src/main/drivers/accgyro/accgyro_lsm6dxx.h",
@@ -2172,7 +2194,8 @@
21722194
"LSM6DXX_REG_OUTY_L_A": "42",
21732195
"LSM6DXX_REG_OUTY_H_A": "43",
21742196
"LSM6DXX_REG_OUTZ_L_A": "44",
2175-
"LSM6DXX_REG_OUTZ_H_A": "45"
2197+
"LSM6DXX_REG_OUTZ_H_A": "45",
2198+
"LSM6DXX_REG_HAODR_CFG": "98"
21762199
},
21772200
"ltm_frame_e": {
21782201
"_source": "inav/src/main/telemetry/ltm.h",
@@ -2335,7 +2358,8 @@
23352358
"MULTI_FUNC_3": "3",
23362359
"MULTI_FUNC_4": "4",
23372360
"MULTI_FUNC_5": "5",
2338-
"MULTI_FUNC_END": "6"
2361+
"MULTI_FUNC_6": "6",
2362+
"MULTI_FUNC_END": "7"
23392363
},
23402364
"multiFunctionFlags_e": {
23412365
"_source": "inav/src/main/fc/multifunction.h",
@@ -3062,7 +3086,8 @@
30623086
"PITOT_VIRTUAL": "4",
30633087
"PITOT_FAKE": "5",
30643088
"PITOT_MSP": "6",
3065-
"PITOT_DLVR": "7"
3089+
"PITOT_DLVR": "7",
3090+
"PITOT_MS5525": "8"
30663091
},
30673092
"pollType_e": {
30683093
"_source": "inav/src/main/io/smartport_master.c",
@@ -3301,8 +3326,9 @@
33013326
"_source": "inav/src/main/io/displayport_msp_osd.c",
33023327
"SD_3016": "0",
33033328
"HD_5018": "1",
3304-
"HD_6022": "2",
3305-
"HD_5320": "3"
3329+
"HD_3016": "2",
3330+
"HD_6022": "3",
3331+
"HD_5320": "4"
33063332
},
33073333
"resourceOwner_e": {
33083334
"_source": "inav/src/main/drivers/resource.h",
@@ -3469,7 +3495,7 @@
34693495
"SDCARD_OPERATION_FAILURE": "3"
34703496
},
34713497
"sdcardReceiveBlockStatus_e": {
3472-
"_source": "inav/src/main/drivers/sdcard/sdcard_spi.c",
3498+
"_source": "inav/src/main/drivers/sdcard/sdcard_sdio.c",
34733499
"SDCARD_RECEIVE_SUCCESS": "0",
34743500
"SDCARD_RECEIVE_BLOCK_IN_PROGRESS": "1",
34753501
"SDCARD_RECEIVE_ERROR": "2"
@@ -3691,7 +3717,12 @@
36913717
"HITL_AIRSPEED": "(1 << 6)",
36923718
"HITL_EXTENDED_FLAGS": "(1 << 7)",
36933719
"HITL_GPS_TIMEOUT": "(1 << 8)",
3694-
"HITL_PITOT_FAILURE": "(1 << 9)"
3720+
"HITL_PITOT_FAILURE": "(1 << 9)",
3721+
"HITL_CURRENT_SENSOR": "(1 << 10)",
3722+
"HITL_SIM_RC_INPUT": "(1 << 11)",
3723+
"HITL_RANGEFINDER": "(1 << 12)",
3724+
"HITL_FAILSAFE_TRIGGERED": "(1 << 13)",
3725+
"HITL_SITL_MODE": "(1 << 14)"
36953726
},
36963727
"smartAudioVersion_e": {
36973728
"_source": "inav/src/main/io/vtx_smartaudio.h",
@@ -3838,7 +3869,7 @@
38383869
"THR_HI": "(2 << (2 * THROTTLE))"
38393870
},
38403871
"systemState_e": {
3841-
"_source": "inav/src/main/fc/fc_init.h",
3872+
"_source": "inav/src/main/fc/fc_init.c",
38423873
"SYSTEM_STATE_INITIALISING": "0",
38433874
"SYSTEM_STATE_CONFIG_LOADED": "(1 << 0)",
38443875
"SYSTEM_STATE_SENSORS_READY": "(1 << 1)",
@@ -3850,7 +3881,8 @@
38503881
"_source": "inav/src/main/drivers/timer.h",
38513882
"TCH_DMA_IDLE": "0",
38523883
"TCH_DMA_READY": "1",
3853-
"TCH_DMA_ACTIVE": "2"
3884+
"TCH_DMA_ACTIVE": "2",
3885+
"TCH_DMA_CIRCULAR": "3"
38543886
},
38553887
"tempSensorType_e": {
38563888
"_source": "inav/src/main/sensors/temperature.h",

‎docs/development/msp/inav_enums_ref.md‎

Lines changed: 52 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -150,6 +150,7 @@
150150
- [ibusSensorType1_e](#enum-ibussensortype1_e)
151151
- [ibusSensorType_e](#enum-ibussensortype_e)
152152
- [ibusSensorValue_e](#enum-ibussensorvalue_e)
153+
- [icm42605Variant_e](#enum-icm42605variant_e)
153154
- [inputSource_e](#enum-inputsource_e)
154155
- [itermRelax_e](#enum-itermrelax_e)
155156
- [led_pin_pwm_mode_e](#enum-led_pin_pwm_mode_e)
@@ -1455,13 +1456,14 @@
14551456
| `DEVHW_TOF10120_I2C` | 48 | |
14561457
| `DEVHW_TERARANGER_EVO_I2C` | 49 | |
14571458
| `DEVHW_MS4525` | 50 | |
1458-
| `DEVHW_DLVR` | 51 | |
1459-
| `DEVHW_M25P16` | 52 | |
1460-
| `DEVHW_W25N` | 53 | |
1461-
| `DEVHW_UG2864` | 54 | |
1462-
| `DEVHW_SDCARD` | 55 | |
1463-
| `DEVHW_IRLOCK` | 56 | |
1464-
| `DEVHW_PCF8574` | 57 | |
1459+
| `DEVHW_MS5525` | 51 | |
1460+
| `DEVHW_DLVR` | 52 | |
1461+
| `DEVHW_M25P16` | 53 | |
1462+
| `DEVHW_W25N` | 54 | |
1463+
| `DEVHW_UG2864` | 55 | |
1464+
| `DEVHW_SDCARD` | 56 | |
1465+
| `DEVHW_IRLOCK` | 57 | |
1466+
| `DEVHW_PCF8574` | 58 | |
14651467

14661468
---
14671469
## <a id="enum-deviceflags_e"></a>`deviceFlags_e`
@@ -2797,6 +2799,17 @@
27972799
| `IBUS_MEAS_VALUE_GPS_LON2` | 145 | |
27982800
| `IBUS_MEAS_VALUE_GPS` | 253 | |
27992801

2802+
---
2803+
## <a id="enum-icm42605variant_e"></a>`icm42605Variant_e`
2804+
2805+
> Source: ../../../src/main/drivers/accgyro/accgyro_icm42605.c
2806+
2807+
| Enumerator | Value | Condition |
2808+
|---|---:|---|
2809+
| `ICM42605_VARIANT_42605` | 0 | |
2810+
| `ICM42605_VARIANT_42686P` | 1 | |
2811+
| `ICM42605_VARIANT_42688P` | 2 | |
2812+
28002813
---
28012814
## <a id="enum-inputsource_e"></a>`inputSource_e`
28022815

@@ -3243,6 +3256,7 @@
32433256
| `LSM6DXX_VAL_CTRL1_XL_LPF2` | 1 | |
32443257
| `LSM6DXX_VAL_CTRL2_G_ODR6664` | 10 | |
32453258
| `LSM6DXX_VAL_CTRL2_G_2000DPS` | 3 | |
3259+
| `LSM6DXX_VAL_CTRL3_C_BDU` | BIT(6) | |
32463260
| `LSM6DXX_VAL_CTRL3_C_H_LACTIVE` | 0 | |
32473261
| `LSM6DXX_VAL_CTRL3_C_PP_OD` | 0 | |
32483262
| `LSM6DXX_VAL_CTRL3_C_SIM` | 0 | |
@@ -3261,6 +3275,20 @@
32613275
| `LSM6DXX_VAL_CTRL7_G_HPM_G_260` | 2 | |
32623276
| `LSM6DXX_VAL_CTRL7_G_HPM_G_1040` | 3 | |
32633277
| `LSM6DXX_VAL_CTRL9_XL_I3C_DISABLE` | BIT(1) | |
3278+
| `LSM6DXX_VAL_CTRL1_XL_V_OPMODE_HIGH_ACCURACY` | 1 | |
3279+
| `LSM6DXX_VAL_CTRL1_XL_V_ODR_1000HZ_HAODR1` | 9 | |
3280+
| `LSM6DXX_VAL_CTRL2_G_V_OPMODE_HIGH_ACCURACY` | 1 | |
3281+
| `LSM6DXX_VAL_CTRL2_G_V_ODR_8000HZ_HAODR1` | 12 | |
3282+
| `LSM6DXX_VAL_HAODR_CFG_MODE1` | 1 | |
3283+
| `LSM6DXX_VAL_CTRL6_C_V_FS_G_2000DPS` | 4 | |
3284+
| `LSM6DXX_VAL_CTRL6_C_V_DSK320X_RESERVED_BIT3` | BIT(3) | |
3285+
| `LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_288HZ` | 0 | |
3286+
| `LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_215HZ` | 1 | |
3287+
| `LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_157HZ` | 2 | |
3288+
| `LSM6DXX_VAL_CTRL6_C_V_LPF1_BW_455HZ` | 3 | |
3289+
| `LSM6DXX_VAL_CTRL7_G_V_LPF1_EN` | BIT(0) | |
3290+
| `LSM6DXX_VAL_CTRL8_XL_V_FS_16G` | 3 | |
3291+
| `LSM6DXX_VAL_CTRL4_C_V_DRDY_PULSED` | BIT(1) | |
32643292

32653293
---
32663294
## <a id="enum-lsm6dxxregister_e"></a>`lsm6dxxRegister_e`
@@ -3298,6 +3326,7 @@
32983326
| `LSM6DXX_REG_OUTY_H_A` | 43 | |
32993327
| `LSM6DXX_REG_OUTZ_L_A` | 44 | |
33003328
| `LSM6DXX_REG_OUTZ_H_A` | 45 | |
3329+
| `LSM6DXX_REG_HAODR_CFG` | 98 | |
33013330

33023331
---
33033332
## <a id="enum-ltm_frame_e"></a>`ltm_frame_e`
@@ -3541,7 +3570,8 @@
35413570
| `MULTI_FUNC_3` | 3 | |
35423571
| `MULTI_FUNC_4` | 4 | |
35433572
| `MULTI_FUNC_5` | 5 | |
3544-
| `MULTI_FUNC_END` | 6 | |
3573+
| `MULTI_FUNC_6` | 6 | |
3574+
| `MULTI_FUNC_END` | 7 | |
35453575

35463576
---
35473577
## <a id="enum-multifunctionflags_e"></a>`multiFunctionFlags_e`
@@ -4544,6 +4574,7 @@
45444574
| `PITOT_FAKE` | 5 | |
45454575
| `PITOT_MSP` | 6 | |
45464576
| `PITOT_DLVR` | 7 | |
4577+
| `PITOT_MS5525` | 8 | |
45474578

45484579
---
45494580
## <a id="enum-polltype_e"></a>`pollType_e`
@@ -4829,8 +4860,9 @@
48294860
|---|---:|---|
48304861
| `SD_3016` | 0 | |
48314862
| `HD_5018` | 1 | |
4832-
| `HD_6022` | 2 | |
4833-
| `HD_5320` | 3 | |
4863+
| `HD_3016` | 2 | |
4864+
| `HD_6022` | 3 | |
4865+
| `HD_5320` | 4 | |
48344866

48354867
---
48364868
## <a id="enum-resourceowner_e"></a>`resourceOwner_e`
@@ -5079,7 +5111,7 @@
50795111
---
50805112
## <a id="enum-sdcardreceiveblockstatus_e"></a>`sdcardReceiveBlockStatus_e`
50815113

5082-
> Source: ../../../src/main/drivers/sdcard/sdcard_sdio.c
5114+
> Source: ../../../src/main/drivers/sdcard/sdcard_spi.c
50835115
50845116
| Enumerator | Value | Condition |
50855117
|---|---:|---|
@@ -5090,7 +5122,7 @@
50905122
---
50915123
## <a id="enum-sdcardreceiveblockstatus_e"></a>`sdcardReceiveBlockStatus_e`
50925124

5093-
> Source: ../../../src/main/drivers/sdcard/sdcard_spi.c
5125+
> Source: ../../../src/main/drivers/sdcard/sdcard_sdio.c
50945126
50955127
| Enumerator | Value | Condition |
50965128
|---|---:|---|
@@ -5421,6 +5453,11 @@
54215453
| `HITL_EXTENDED_FLAGS` | (1 << 7) | |
54225454
| `HITL_GPS_TIMEOUT` | (1 << 8) | |
54235455
| `HITL_PITOT_FAILURE` | (1 << 9) | |
5456+
| `HITL_CURRENT_SENSOR` | (1 << 10) | |
5457+
| `HITL_SIM_RC_INPUT` | (1 << 11) | |
5458+
| `HITL_RANGEFINDER` | (1 << 12) | |
5459+
| `HITL_FAILSAFE_TRIGGERED` | (1 << 13) | |
5460+
| `HITL_SITL_MODE` | (1 << 14) | |
54245461

54255462
---
54265463
## <a id="enum-smartaudioversion_e"></a>`smartAudioVersion_e`
@@ -5636,7 +5673,7 @@
56365673
---
56375674
## <a id="enum-systemstate_e"></a>`systemState_e`
56385675

5639-
> Source: ../../../src/main/fc/fc_init.c
5676+
> Source: ../../../src/main/fc/fc_init.h
56405677
56415678
| Enumerator | Value | Condition |
56425679
|---|---:|---|
@@ -5650,7 +5687,7 @@
56505687
---
56515688
## <a id="enum-systemstate_e"></a>`systemState_e`
56525689

5653-
> Source: ../../../src/main/fc/fc_init.h
5690+
> Source: ../../../src/main/fc/fc_init.c
56545691
56555692
| Enumerator | Value | Condition |
56565693
|---|---:|---|
@@ -5671,6 +5708,7 @@
56715708
| `TCH_DMA_IDLE` | 0 | |
56725709
| `TCH_DMA_READY` | 1 | |
56735710
| `TCH_DMA_ACTIVE` | 2 | |
5711+
| `TCH_DMA_CIRCULAR` | 3 | |
56745712

56755713
---
56765714
## <a id="enum-tempsensortype_e"></a>`tempSensorType_e`

0 commit comments

Comments
 (0)